CN116739203A - Path planning and design method for coal mining - Google Patents
Path planning and design method for coal mining Download PDFInfo
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- CN116739203A CN116739203A CN202311029997.9A CN202311029997A CN116739203A CN 116739203 A CN116739203 A CN 116739203A CN 202311029997 A CN202311029997 A CN 202311029997A CN 116739203 A CN116739203 A CN 116739203A
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- 239000003245 coal Substances 0.000 title claims abstract description 182
- 238000005065 mining Methods 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000005553 drilling Methods 0.000 claims abstract description 108
- 239000002689 soil Substances 0.000 claims abstract description 78
- 230000011218 segmentation Effects 0.000 claims abstract description 17
- 238000010276 construction Methods 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 17
- 238000004519 manufacturing process Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000000605 extraction Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention relates to the technical field of coal mining, in particular to a path planning and design method for coal mining, which comprises the following steps: uploading geological parameter data of a coal mining area, and constructing a coal mining area model according to the address parameter data of the coal mining area; reading a coal mining area model, selecting a soil layer in the coal mining area model, and performing model segmentation of the selected soil layer; acquiring a selected soil layer model obtained by segmentation, acquiring drilling and exploitation equipment specification parameters, and constructing a drilling and exploitation equipment virtual model according to the drilling and exploitation equipment specification parameters; in the method, in the execution process of the steps, the construction of the coal mining area model can assist workers in analyzing the coal mining area, the coal mining area model is further segmented, the purpose of solving the coal mine layer model is achieved, and the constructed drilling mining equipment virtual model is used for filling the coal mine layer model, so that the mining path planning and design of the final drilling mining equipment are achieved.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to a path planning and design method for coal mining.
Background
Coal mining is an abbreviation for mining engineering of underground coal resources today.
Coal mines are generally classified into underground coal mines and open air coal mines. When the coal seam is far from the earth surface, coal is generally selected to be extracted from underground mining roadways, which is an underground coal mine. When the distance between the coal seam and the ground surface is very short, the earth surface soil layer is generally stripped directly to excavate coal, and the coal is an open pit coal mine.
At present, in the coal mining process, workers often implement mining work by detecting and calibrating detection points, and the mode cannot better reflect the overall mineral seam appearance of a coal mining area, so that the manual participation degree in the coal mining process is higher, and a space for improving the consumed manpower resources, the mining cost and the mining efficiency exists;
therefore, we propose a path planning and design method for coal mining.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a path planning and design method for coal mining, which solves the problems that workers often implement mining work by detecting and calibrating detection points in the process of coal mining, and the method cannot better reflect the overall mineral seam appearance of a coal mining area, so that the manual participation degree in the process of coal mining is higher, and the consumed manpower resources, mining cost and mining efficiency are lower.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a path planning and design method for coal mining comprises the following steps:
step 1: uploading geological parameter data of a coal mining area, and constructing a coal mining area model according to the address parameter data of the coal mining area;
step 2: reading a coal mining area model, selecting a soil layer in the coal mining area model, and performing model segmentation of the selected soil layer;
step 3: acquiring a selected soil layer model obtained by segmentation, acquiring drilling and exploitation equipment specification parameters, and constructing a drilling and exploitation equipment virtual model according to the drilling and exploitation equipment specification parameters;
step 4: placing the drilling and exploitation equipment virtual model at an edge position in the selected soil layer model, and enabling the drilling and exploitation equipment virtual model to be completely positioned in the selected soil layer model;
step 5: acquiring a selected soil layer model in which a drilling and exploitation equipment virtual model is placed, and calculating the multiple relation between the drilling and exploitation equipment virtual model and the selected soil layer model;
step 6: and obtaining the calculation result of the multiple of the drilling and exploitation equipment virtual model and the selected soil layer model, copying the drilling and exploitation equipment virtual model, and filling the selected soil layer model by using the copied drilling and exploitation equipment virtual model.
Further, the geological parameter data of the coal mining area uploaded in the step 1 includes: image data of a coal mining area or geological detection data of the coal mining area;
the method comprises the steps that coal mine exploitation region image data and coal mine exploitation region geological detection data are manually uploaded through a user side, wherein the coal mine exploitation region image data comprise coal mine exploitation region landform images and coal mine exploitation region underground section images, and the coal mine exploitation region geological detection data comprise coal mine exploitation region soil layer types and space position coordinates corresponding to all soil layers.
Furthermore, when the coal mining area model is constructed, the step 1 is to use the coal mining area image data as an external image of the coal mining area model, and to use the soil layer type of the coal mining area and the space position coordinates corresponding to each soil layer in the geological detection data of the coal mining area to construct the coal mining area model;
when the coal mining area model is constructed, determining the spatial range of the coal mining area according to the image data of the coal mining area, wherein the spatial position coordinates corresponding to all soil layers of the coal mining area are in the spatial range of the coal mining area, the number of the spatial position coordinates corresponding to the soil layers of the coal mining area is not less than 4x groups, and x is the number of the soil layer types of the coal mining area.
Further, the soil layer selected in the coal mining area model in the step 2 is a coal seam layer, and in the step 2, when the model segmentation of the selected soil layer is performed, segmentation is performed according to the spatial position coordinates corresponding to the soil layer in the geological detection data of the coal mining area in the geological parameter data of the coal mining area;
the construction and segmentation operation of the coal mining area model are all carried out in any three-dimensional drawing software.
And 3, when the virtual model of the drilling and exploitation equipment is built according to the specification parameters of the drilling and exploitation equipment, building is completed according to the same scale when the coal mine exploitation area model is built, the specification parameters of the drilling and exploitation equipment are traversed and read when the virtual model of the drilling and exploitation equipment is built, the length, width and height with the largest numerical value in the specification parameters of the drilling and exploitation equipment are further obtained, and the building of the virtual model of the drilling and exploitation equipment is completed by applying the obtained length, width and height numerical values.
Furthermore, in the step 4, the drilling and exploitation equipment virtual model is in the angular position in the selected soil layer model in the state of being completely in the selected soil layer model, and the length, width and height edges of the angular position in the selected soil layer model are all in the limit positions.
Further, in the step 5, the calculation formula of the multiple relation between the drilling and production equipment virtual model and the selected soil layer model is as follows:
；
wherein: m is an integer by using a one-in-one method; n is the same for selecting any domain in soil layer model betaIs a set of heights i; />The size of the area is set; />、/>Is->The length, width and height of the drilling and exploitation equipment virtual model are respectively.
Further, the virtual model of the drilling and production equipment copied in the step 6 is constructed by three-dimensional drawing software used for constructing the virtual model of the initial drilling and production equipment, and the total value of the number of the virtual models of the copied drilling and production equipment and the virtual model of the initial drilling and production equipment is the same as the calculated result in the step 5.
Further, the step 6 is executed, capturing the center points of the drilling and exploitation equipment virtual models synchronously, and interconnecting the adjacent points with the center points to form the coal mine exploitation path.
Further, the space position coordinates corresponding to the center point of the initial drilling and exploitation equipment virtual model are the starting point of the drilling and exploitation equipment;
when capturing the center point of the drilling and exploitation equipment virtual model, at least two groups of central axes on the drilling and exploitation equipment virtual model are acquired, and the intersection point of the two groups of central axes is recorded as the center point of the drilling and exploitation equipment virtual model.
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
1. the invention provides a path planning and design method for coal mining, which can assist workers in analyzing a coal mining area through the construction of a coal mining area model in the execution process of the steps of the method, further divide the coal mining area model so as to achieve the purpose of solving a coal mine layer model, and fill the coal mine layer model through a constructed drilling mining equipment virtual model so as to realize the mining path planning and design of final drilling mining equipment.
2. On the basis of the execution of the steps, the method further brings fine processing to the extraction path by solving the center point of the virtual model of the drilling and exploitation equipment used for filling the coal seam model, and synchronously outputs the initial space position of the drilling and exploitation equipment, so that the coal mine exploitation work of the drilling and exploitation equipment is more stable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of a method for path planning and design for coal mining.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Embodiment one:
the method for planning and designing a path for coal mining in this embodiment, as shown in fig. 1, includes the following steps:
step 1: uploading geological parameter data of a coal mining area, and constructing a coal mining area model according to the address parameter data of the coal mining area;
step 2: reading a coal mining area model, selecting a soil layer in the coal mining area model, and performing model segmentation of the selected soil layer;
step 3: acquiring a selected soil layer model obtained by segmentation, acquiring drilling and exploitation equipment specification parameters, and constructing a drilling and exploitation equipment virtual model according to the drilling and exploitation equipment specification parameters;
step 4: placing the drilling and exploitation equipment virtual model at an edge position in the selected soil layer model, and enabling the drilling and exploitation equipment virtual model to be completely positioned in the selected soil layer model;
step 5: acquiring a selected soil layer model in which a drilling and exploitation equipment virtual model is placed, and calculating the multiple relation between the drilling and exploitation equipment virtual model and the selected soil layer model;
step 6: obtaining the calculation result of the multiple of the drilling and exploitation equipment virtual model and the selected soil layer model, copying the drilling and exploitation equipment virtual model, and filling the selected soil layer model by using the copied drilling and exploitation equipment virtual model;
in the step 5, the multiple relation calculation formula of the drilling and exploitation equipment virtual model and the selected soil layer model is as follows:
；
wherein: m is an integer by using a one-in-one method; n is the same for selecting any domain in soil layer model betaIs a set of heights i; />The size of the area is set; />、/>Is->The length, width and height of the drilling and exploitation equipment virtual model are respectively.
In this embodiment, through the execution of the steps, the output of the coal mining path and the starting point is realized, and the output can be calculated by the formulas recorded in the above, so that the reliable point location number and the reliable point location can be output, the generation of the coal mining path is realized through point location connection, the generated coal mining path is ensured to be the most simplified, and all coal seam layers in the coal mining area are covered.
Embodiment two:
on the aspect of implementation, on the basis of embodiment 1, this embodiment further specifically describes a path planning and design method for coal mining in embodiment 1 with reference to fig. 1:
the geological parameter data of the coal mining area uploaded in the step 1 comprises the following steps: image data of a coal mining area or geological detection data of the coal mining area;
the method comprises the steps that coal mine exploitation region image data and coal mine exploitation region geological detection data are manually uploaded through a user side, wherein the coal mine exploitation region image data comprise coal mine exploitation region landform images and coal mine exploitation region underground section images, and the coal mine exploitation region geological detection data comprise coal mine exploitation region soil layer types and space position coordinates corresponding to all soil layers;
step 1, when a coal mining area model is constructed, taking coal mining area image data as an external image of the coal mining area model, and constructing the coal mining area model by taking the type of soil layers of the coal mining area and the space position coordinates corresponding to all soil layers in geological detection data of the coal mining area;
when the coal mining area model is constructed, determining the spatial range of the coal mining area according to the image data of the coal mining area, wherein the spatial position coordinates corresponding to all soil layers of the coal mining area are in the spatial range of the coal mining area, the number of the spatial position coordinates corresponding to the soil layers of the coal mining area is not less than 4x groups, and x is the number of the soil layer types of the coal mining area.
Through the arrangement, the address parameter data used for constructing the coal mining area model are limited, stable construction and generation of the coal mining area model are ensured, and the construction accuracy of the coal mining area model constructed in the step 1 can be conveniently controlled by a user by limiting the number of the space position coordinates corresponding to the soil layer of the coal mining area, so that the coal mining area model constructed in the step 1 meets the use requirement of the user more conveniently.
As shown in fig. 1, in the step 2, a soil layer selected from the coal mining area model, namely a coal seam, and in the step 2, when the model segmentation of the selected soil layer is performed, segmentation is performed according to spatial position coordinates corresponding to the soil layer in geological detection data of the coal mining area in geological parameter data of the coal mining area;
the construction and segmentation operation of the coal mining area model are all carried out in any three-dimensional drawing software.
By the arrangement, the output of the coal seam model in the coal mining area model is completed.
As shown in fig. 1, step 3 is to complete the construction of the virtual model of the drilling and exploitation equipment by using the same scale when constructing the virtual model of the drilling and exploitation equipment according to the specification parameters of the drilling and exploitation equipment, and to further obtain the length, width and height with the largest numerical value in the specification parameters of the drilling and exploitation equipment, and to complete the construction of the virtual model of the drilling and exploitation equipment by using the obtained length, width and height numerical values when constructing the virtual model of the drilling and exploitation equipment by using the virtual model of the drilling and exploitation equipment according to the same scale;
and 4, under the condition that the drilling and exploitation equipment virtual model is completely in the selected soil layer model, the drilling and exploitation equipment virtual model is positioned at the edge angle position in the selected soil layer model, and the length, width and height edges based on the edge angle position in the selected soil layer model are all positioned at the limit positions.
Through the arrangement, the construction of the virtual model of the drilling and exploitation equipment is completed, and the mutual configuration of the virtual model of the drilling and exploitation equipment and the selected soil layer model, namely the coal mine layer model, is completed synchronously, so that necessary data support is provided for the execution of the subsequent steps in the method.
Embodiment III:
on the aspect of implementation, on the basis of embodiment 1, this embodiment further specifically describes a path planning and design method for coal mining in embodiment 1 with reference to fig. 1:
the copied drilling and production equipment virtual model in the step 6 is constructed through three-dimensional drawing software used for constructing the initial drilling and production equipment virtual model, and the total value of the number of the copied drilling and production equipment virtual model and the initial drilling and production equipment virtual model is the same as the calculated result in the step 5.
Step 6, synchronously capturing the center points of the drilling and mining equipment virtual models when the step is executed, and connecting the adjacent points with each center point to form a coal mine mining path;
the space position coordinates corresponding to the center point of the virtual model of the initial drilling and exploitation equipment are the starting point of the drilling and exploitation equipment;
when capturing the center point of the drilling and exploitation equipment virtual model, at least two groups of central axes on the drilling and exploitation equipment virtual model are acquired, and the intersection point of the two groups of central axes is recorded as the center point of the drilling and exploitation equipment virtual model.
Through the arrangement, further refinement treatment is brought to the coal mining path output by the method, so that the coal mining path is output in a linear form finally.
In summary, in the method in the above embodiment, during the execution of the steps, the construction of the coal mining area model can assist the staff in analyzing the coal mining area, and further divide the coal mining area model to achieve the purpose of solving the coal seam model, and fill the coal seam model through the constructed drilling and mining equipment virtual model, so as to achieve the mining path planning and design of the final drilling and mining equipment; on the basis of the execution of the steps, the method further brings fine processing to the extraction path by solving the center point of the virtual model of the drilling and exploitation equipment used for filling the coal seam model, and synchronously outputs the initial space position of the drilling and exploitation equipment, so that the coal mine exploitation work of the drilling and exploitation equipment is more stable.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A path planning and design method for coal mining is characterized by comprising the following steps:
step 1: uploading geological parameter data of a coal mining area, and constructing a coal mining area model according to the address parameter data of the coal mining area;
step 2: reading a coal mining area model, selecting a soil layer in the coal mining area model, and performing model segmentation of the selected soil layer;
step 3: acquiring a selected soil layer model obtained by segmentation, acquiring drilling and exploitation equipment specification parameters, and constructing a drilling and exploitation equipment virtual model according to the drilling and exploitation equipment specification parameters;
step 4: placing the drilling and exploitation equipment virtual model at an edge position in the selected soil layer model, and enabling the drilling and exploitation equipment virtual model to be completely positioned in the selected soil layer model;
step 5: acquiring a selected soil layer model in which a drilling and exploitation equipment virtual model is placed, and calculating the multiple relation between the drilling and exploitation equipment virtual model and the selected soil layer model;
step 6: and obtaining the calculation result of the multiple of the drilling and exploitation equipment virtual model and the selected soil layer model, copying the drilling and exploitation equipment virtual model, and filling the selected soil layer model by using the copied drilling and exploitation equipment virtual model.
2. The method for planning and designing a coal mining path according to claim 1, wherein the coal mining area geological parameter data uploaded in step 1 includes: image data of a coal mining area or geological detection data of the coal mining area;
the method comprises the steps that coal mine exploitation region image data and coal mine exploitation region geological detection data are manually uploaded through a user side, wherein the coal mine exploitation region image data comprise coal mine exploitation region landform images and coal mine exploitation region underground section images, and the coal mine exploitation region geological detection data comprise coal mine exploitation region soil layer types and space position coordinates corresponding to all soil layers.
3. The method for planning and designing a coal mining path according to claim 1, wherein in the step 1, when a coal mining area model is constructed, the coal mining area model is constructed by taking coal mining area image data as an external image of the coal mining area model and taking the type of soil layers of the coal mining area and the spatial position coordinates corresponding to each soil layer in geological detection data of the coal mining area;
when the coal mining area model is constructed, determining the spatial range of the coal mining area according to the image data of the coal mining area, wherein the spatial position coordinates corresponding to all soil layers of the coal mining area are in the spatial range of the coal mining area, the number of the spatial position coordinates corresponding to the soil layers of the coal mining area is not less than 4x groups, and x is the number of the soil layer types of the coal mining area.
4. The method for planning and designing a coal mining path according to claim 1, wherein the soil layer selected in the coal mining area model in step 2 is a coal seam layer, and the segmentation is performed according to the spatial position coordinates corresponding to the soil layer in the geological detection data of the coal mining area in the geological parameter data of the coal mining area when the model segmentation of the selected soil layer is performed in step 2;
the construction and segmentation operation of the coal mining area model are all carried out in any three-dimensional drawing software.
5. The method for planning and designing a coal mining path according to claim 1, wherein the step 3 is characterized in that when a virtual model of the drilling and mining equipment is constructed according to the specification parameters of the drilling and mining equipment, the virtual model of the drilling and mining equipment is constructed according to the same scale when the virtual model of the coal mining area model is constructed, the specification parameters of the drilling and mining equipment are read in a traversing manner when the virtual model of the drilling and mining equipment is constructed, the length, width and height with the largest numerical value in the specification parameters of the drilling and mining equipment are further obtained, and the construction of the virtual model of the drilling and mining equipment is completed by applying the obtained length, width and height numerical values.
6. The method according to claim 1, wherein in the step 4, the drilling and mining equipment virtual model is completely in the selected soil layer model, the drilling and mining equipment virtual model is in an angular position in the selected soil layer model, and the length, width and height edges based on the angular position in the selected soil layer model are all in extreme positions.
7. The method for planning and designing a path for coal mining according to claim 1, wherein in the step 5, a calculation formula of a multiple relation between a drilling and mining equipment virtual model and a selected soil layer model is as follows:
；
wherein: m is an integer by using a one-in-one method; n is the same for selecting any domain in soil layer model betaIs a set of heights i; />The size of the area is set; />、/>Is->The length, width and height of the drilling and exploitation equipment virtual model are respectively.
8. The method according to claim 1, wherein the virtual model of the drilling and production equipment copied in the step 6 is constructed by three-dimensional drawing software used for constructing the virtual model of the initial drilling and production equipment, and the sum of the number of the virtual models of the copied drilling and production equipment and the virtual model of the initial drilling and production equipment is the same as the calculated result in the step 5.
9. The method according to claim 1, wherein the step 6 is performed by capturing the center points of the virtual model of each drilling and mining device synchronously, and interconnecting the adjacent points at the center points to form the coal mining path.
10. The method for planning and designing a coal mining path according to claim 8, wherein the spatial position coordinates corresponding to the center point of the virtual model of the initial drilling and mining equipment are the starting point of the drilling and mining equipment;
when capturing the center point of the drilling and exploitation equipment virtual model, at least two groups of central axes on the drilling and exploitation equipment virtual model are acquired, and the intersection point of the two groups of central axes is recorded as the center point of the drilling and exploitation equipment virtual model.
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